First and foremost, the study of motions undergone by robotic mechanical systems or, for that matter, by mechanical systems at large, requires a suitable motion representation. Now, the motion of mechanical systems involves the motion of the particular links comprising those systems, which in this book are supposed to be rigid. The assumption of rigidity, although limited in scope, still covers a wide spectrum of applications, while providing insight into the motion of more complicated systems, such as those involving deformable bodies.


Vector Space Linear Transformation Position Vector Coordinate Frame Rotation Matrix 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag New York, Inc. 2003

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